• Geomechanics and Engineering
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• 제14권5호
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• pp.421-428
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• 2018

In deep mining, the lateral deformation of strip coal pillar appears to be a new characteristic. In order to study the lateral deformation of coal-mass, a monitoring method and monitoring instrument were designed to investigate the lateral deformation of strip coal pillar in Tangkou Coalmine with the mining depth of over 1000 m. Because of without influence of repeated mining, the bedding sandstone roof is easy to break and the angle between maximum horizontal stress and the roadway is small, the maximum lateral deformation is only about 287 mm lower than the other pillars in the same coalmine. In deep mining, the energy accumulation and release cause a discontinuous damage in the heterogeneous coal-mass, and the lateral deformation of coal pillar shows discontinuity, step and mutation characters. These coal-masses not only show a higher plasticity but also the high brittleness at the same time, and its burst tendency is more obvious. According to the monitoring results and theoretical calculations, the yield zone of the coal pillar width is determined as 15.6 m. The monitoring results presented through this study are of great significance to the stability analysis and design of coal pillar.

• 대한기계학회논문집A
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• 제41권10호
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• pp.967-974
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• 2017

본 연구에서는 횡가속도 센서 계측 신호 기반의 기준 차량 요레이트 모델을 활용하여 횡경사 유무에 관계 없이 견실한 성능을 보장하는 제동기반 요 모멘트 제어시스템을 개발하였다. 2자유도 single track 모델과 횡가속도 센서 계측 신호를 융합하여 새로운 기준 요레이트 모델을 설계하였고 이를 기반으로 요 모멘트 제어기를 설계하였다. 또한 외란 관측기를 적용하여 요레이트 동역학에 존재하는 차량 파라미터 오차를 보상하고 제어기의 성능을 개선하였다. 다자유도 차량동역학 해석 SW인 CARSIM을 이용하여 평지 및 횡경사 노면을 반영한 다양한 검증 시나리오 조건에서 제안된 제어기를 검증하였다. 그 결과 기준 차량모델에 횡가속도 계측 신호를 반영하고 외란 관측기를 통해 모델 파라미터 오차를 보상하는 것을 특징으로 하는 새롭게 제안된 횡안정성 제어기가 도로 횡경사에 관계없이 다양한 주행상황에서 차량의 횡안정성을 견실하게 유지할 수 있음을 확인하였다.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
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• pp.1147-1156
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• 1993

In order to analyze lateral control in the backward maneuver of a tractor -trailer combination , a kinematic vehicle model and a human operator model with time delay were utilized for the operator/vehicle system. The analysis was carried out using the frequency domain approach. The open-loop stability of the vehicle motion was analyzed through the transfer functions. The sensitivity of the stability of the vehicle motion. to a change in the steering angle, was also analyzed. A mathematical model of the closed -loop operator/vehicle system was then formulated. The closed -loop stability of the operator /vehicle system was then analyzed. The effect of the delay time on the system was also analyzed through computer simulation.

• 대한기계학회논문집A
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• 제38권11호
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• pp.1291-1297
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• 2014

본 논문에서는 자세 제어 장치와 능동 후륜 조향을 이용한 통합 섀시 제어를 제안한다. 제어에 필요한 요 모멘트를 만들어 내기 위해 직접 요 모멘트 제어 방법을 이용한다. 가중 역행렬 기반 제어할당 방법을 이용하여 제어 요 모멘트를 자세 제어 장치의 제동력과 능동 후륜 조향의 조향각으로 분배한다. 가중 역행렬 기반 제어 할당 방법에 가변 가중치를 도입하여 다양한 구동기 조합을 표현하고 차량의 속도를 높이기 위해 시뮬레이션을 이용하여 가변 가중치를 최적화한다. 차량 시뮬레이션 패키지인 CarSim 에서 시뮬레이션을 수행하여 제안된 방법이 차량의 조종안정성과 횡방향 안정성을 향상시킨다는 사실을 검증한다.

• International Journal of Automotive Technology
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• 제7권7호
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• pp.803-812
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• 2006

In order to reduce the negative effects of dynamic coupling among vehicle subsystems and improve the handling performance of vehicle under severe driving conditions, a vehicle chassis control integration approach based on a main-loop and servo-loop structure is proposed. In the main-loop, in order to achieve satisfactory longitudinal, lateral and yaw response, a sliding mode controller is used to calculate the desired longitudinal, lateral forces and yaw moment of the vehicle; and in the servo-loop, a nonlinear optimizing method is adopted to compute the optimal control inputs, i.e. wheel control torques and active steering angles, and thus distributes the forces and moment to four tire/road contact patches. Simulation results indicate that significant improvement in vehicle handling and stability can be expected from the proposed chassis control integration.

• International Journal of Internet, Broadcasting and Communication
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• 제12권3호
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• pp.226-232
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• 2020

Repetition of landing with visual control in sports and training is common, yet it remains unknown how landing with visual control affects postural stability and lower limb kinetics. The purpose of this study was to test the hypothesis that landing with visual control will influence on lower limb control for intrinsic dynamic postural stability. Kinematics and kinetics variables were recorded automatically when all participants (n=10, mean age: 22.00±1.63 years, mean heights: 177.27±5.45 cm, mean mass: 73.36±2.80 kg) performed drop landings from 30 cm platform. Visual control showed higher medial-lateral force, peak vertical force, loading rate than visual information condition. This was resulted from more stiff leg and less time to peak vertical force in visual control condition. Leg stiffness may decrease due to increase of perturbation of vertical center of gravity, but landing strategy that decreases impulse force was shifted in visual control condition during drop landing. These mechanism explains why rate of injury increase.

• 제어로봇시스템학회논문지
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• 제19권11호
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• pp.998-1003
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• 2013

This study proposes an adaptive control algorithm for lateral motion of a UGV (Unmanned Ground Vehicle) using an NN (Neural Networks). The lateral motion of the UGV can be corrupted with various uncertainties such as side slip. In order to compensate the performance degradation of the UGV under various uncertainties, an NN-based adaptive control is designed by utilizing a virtual control concept. Since both the drift and input gain terms are uncertain, the proposed method adapts the whole terms related to the difference between the nominal and real systems. To avoid a singularity problem with the adaptive control, the affine property of the UGV dynamic model is utilized and the overall closed-loop stability is analyzed rigorously. Finally, numerical simulations using Carsim are performed to validate the effectiveness of the proposed scheme.

• 한국항공우주학회지
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• 제33권2호
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• pp.106-112
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• 2005

현대의 고성능 전투기는 공대공 및 공대지 전투 임무를 수행하기 위해 여러 가지 무장 형상을 하고 있고, 무장투하 시 비대칭 형상(Asymmetric Configuration)으로 임무를 수행하는 경우가 많다. 현재, 개발이 진행 중인 T-50 훈련기의 비대칭 무장형상 비행시험에서 세로축 기동 시 가로축 방향으로 조종사가 원하지 않는 운동이 발생하는데, 이는 항공기 안정성 및 조종성에 영향을 미칠 수 있다. 본 연구에서는 이러한 현상을 개선하기 위하여 기존의 가로축 제어법칙인 미끄럼각-미끄럼각속도 귀환 구조를 F-16과 같이 단순 롤각속도 귀환구조로 적용하였다. 연구결과, 단순 롤각속도 귀환구조로 가로축 제어법칙을 변경하였을 때 비대칭 무장형상에서 세로축 기동 시 가로축 운동의 발생이 줄어들었으며, 시스템의 안정도 여유는 설계기준에 만족한다는 것을 알 수 있었다.

• 한국운동역학회지
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• 제20권1호
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• pp.101-108
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• 2010

Recently, core and neuromuscular training(CNT) is emerging as a clinically relevant tool to improve neuromuscular control and to prevent sports injuries. The purpose of this study was to examine the effect of a 12 weeks CNT program on the dynamic stability after drop landing. The subjects attempted drop landing onto the force platform on single foot from a 40 cm height distance. The collected data was used to calculate the dynamic stability index. The Dynamic stability index was derived by measuring the medial-lateral stability index(MLSI), anterior-posterior stability index(APSI), and the vertical stability index(VSI). In comparison to the control group, the MLSI and APSI showed no difference, yet, it resulted in higher VSI. The results of this study suggest that CNT is worthwhile to be considered as a way to improve neuromuscular control and to prevent traumatic injuries. However, the results are taking into consideration to discuss the limitations of CNT and suggested future approaches.

• 한국자동차공학회논문집
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• 제19권1호
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• pp.51-57
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• 2011

Information of the lateral velocity and the sideslip angle in a vehicle is very useful in many active vehicle safety applications such as yaw stability control and rollover prevention. Because cost-effective sensors to measure the lateral velocity and the sideslip angle are not available, reliable algorithms to estimation them are necessary. In this paper, a sliding mode observer is designed to estimate the lateral velocity. The side slip angle is estimated using the recursive least square with the disturbance observer and the pseudo integral. The estimated parameters from the combined estimation method are updated recursively to minimize the discrepancy between the model and the physical plant, and any possible effects caused by disturbances. The performance of the proposed monitoring system is evaluated through simulations and experiments.